Abstract
The main objectives of this chapter are (i) to devise an algorithm for the real-time computed torque control and (ii) to derive the system of second-order ordinary differential equations (ODE) governing the motion of an n-axis manipulator. We will focus on serial manipulators, the dynamics of a much broader class of robotic mechanical systems, namely, parallel manipulators and mobile robots, being the subject of Chapter 10. Moreover, we will study mechanical systems with rigid links and rigid joints and will put aside systems with flexible elements, which pertain to a more specialized realm.
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© 2003 Springer-Verlag New York, Inc.
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(2003). Dynamics of Serial Robotic Manipulators. In: Angeles, J. (eds) Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms. Mechanical Engineering Series. Springer, New York, NY. https://doi.org/10.1007/978-0-387-22458-9_6
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DOI: https://doi.org/10.1007/978-0-387-22458-9_6
Publisher Name: Springer, New York, NY
Print ISBN: 978-0-387-95368-7
Online ISBN: 978-0-387-22458-9
eBook Packages: Springer Book Archive